CN107105950B - Vacuum cleaner robot - Google Patents

Vacuum cleaner robot Download PDF

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Publication number
CN107105950B
CN107105950B CN201580073614.5A CN201580073614A CN107105950B CN 107105950 B CN107105950 B CN 107105950B CN 201580073614 A CN201580073614 A CN 201580073614A CN 107105950 B CN107105950 B CN 107105950B
Authority
CN
China
Prior art keywords
vacuum cleaner
ground
ozzle
dust
cleaner robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201580073614.5A
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Chinese (zh)
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CN107105950A (en
Inventor
拉尔夫·赛耶
简·舒尔廷克
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Eurofilters Holding NV
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Eurofilters Holding NV
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Publication date
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Publication of CN107105950A publication Critical patent/CN107105950A/en
Application granted granted Critical
Publication of CN107105950B publication Critical patent/CN107105950B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/009—Carrying-vehicles; Arrangements of trollies or wheels; Means for avoiding mechanical obstacles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L5/00—Structural features of suction cleaners
    • A47L5/12—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum
    • A47L5/22—Structural features of suction cleaners with power-driven air-pumps or air-compressors, e.g. driven by motor vehicle engine vacuum with rotary fans
    • A47L5/36—Suction cleaners with hose between nozzle and casing; Suction cleaners for fixing on staircases; Suction cleaners for carrying on the back
    • A47L5/362—Suction cleaners with hose between nozzle and casing; Suction cleaners for fixing on staircases; Suction cleaners for carrying on the back of the horizontal type, e.g. canister or sledge type
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/04—Nozzles with driven brushes or agitators
    • A47L9/0461—Dust-loosening tools, e.g. agitators, brushes
    • A47L9/0466—Rotating tools
    • A47L9/0477—Rolls
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/02—Nozzles
    • A47L9/06—Nozzles with fixed, e.g. adjustably fixed brushes or the like
    • A47L9/066—Nozzles with fixed, e.g. adjustably fixed brushes or the like with adjustably mounted brushes, combs, lips or pads; Height adjustment of nozzle or dust loosening tools
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A47L9/2821—Pressure, vacuum level or airflow
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/003—Multidirectional wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0295—Fleet control by at least one leading vehicle of the fleet
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Optics & Photonics (AREA)
  • Acoustics & Sound (AREA)
  • Electric Vacuum Cleaner (AREA)
  • Electric Suction Cleaners (AREA)

Abstract

The present invention relates to a kind of vacuum cleaner robots (1), it includes collecting unit of dust (2) and the ground ozzle (3) for being supported in wheel (5), the ground ozzle includes driving device (14,15), the driving device (14,15) is for driving at least one of wheel of the ground ozzle to take turns.A wheel, multiple wheels or all wheels in the wheel of the ground ozzle are omni-directional wheels.The ground ozzle includes the substrate with basal plane, and when vacuum cleaner robot operation, the basal plane faces surface to be cleaned.Air flow channel is provided in the substrate, the air flow channel is parallel to the basal plane, and air to be cleaned enters the ground ozzle by the air flow channel.The ground ozzle includes revolving member, and the revolving member is used to make the air flow channel around the axis rotation perpendicular to the basal plane.

Description

Vacuum cleaner robot
Technical field
The present invention relates to vacuum cleaner robots.
Background technique
Traditional vacuum cleaner is operated by user, and user spreads outwardly Mobile vacuum cleaner to be cleaned, Especially move the ground ozzle of sucking dust.Traditional canister type vacuum cleaner is for example including being installed on roller and/or sliding rail Shell.It is configured with dust collecting container in shell, filter bag is provided in dust collecting container.Ground ozzle is via suction tube and aspirates soft Pipe is connected to dust storage chamber.It is also additional negative configured with being generated in dust collecting container in shell in traditional canister type vacuum cleaner The motor fan unit of pressure.Therefore, when observing along air-flow direction, the configuration of motor fan unit is in ground ozzle, suction The downstream of pipe, suction hose and dust collecting container and filter bag.Air due to flowing through these motor fan units is clean Air, so these motor fan units are also sometimes referred to as clean air motor.
Particularly, motor fan is directly conducted through there is also the dirty air of sucking in the past and enter direct with motor fan The vacuum cleaner of adjacent dust bag.It is shown in US 2,101,390, US 2,036,056 and US2,482,337 this true The example of empty cleaner.Nowadays, the vacuum cleaner of these types is no longer very common.
This dirty air motor fan is also known as " dirty air motor " or " direct air motor ".Document GB 554 177, US 4,644,606, US 4,519,112, US 2002/0159897, US5,573,369, US2003/0202890 or US Also the use of this dirty air motor is described in 6,171,054.
In recent years, vacuum cleaner robot also received an acclaim.This vacuum cleaner robot no longer needs to be used Person spreads outwardly Mobile vacuum cleaner robot to be cleaned, but this vacuum cleaner robot automatically covers ground Face.This vacuum cleaner known from such as EP 2 741 483, DE 10 2,013 100 192 and US 2007/0272463 The example of robot.
The shortcomings that these known vacuum cleaner robots, is that they only have small dirt absorption ability.This returns Because in following fact: dust intake only brushing effect and realize or used motor fan list by the brush roll of rotation Member has low-down power.
Optional vacuum cleaner robot is described in WO 02/074150.The vacuum cleaner robot has by two The structure design that part is constituted, and including container or fan unit and the cleaning head list being connected to via hose with fan unit Member.
Summary of the invention
In this context, it is an object of the present invention to provide a kind of improved vacuum cleaner robots.
The target is realized by the theme of scheme 1.According to the present invention, a kind of vacuum cleaner robot is provided, is wrapped Collecting unit of dust and the ground ozzle for being supported in wheel are included,
Wherein, the ground ozzle includes driving device, and the driving device is for driving in the wheel of the ground ozzle At least one wheel,
A wheel, multiple wheels or all wheels in the wheel of the ground ozzle are omni-directional wheels,
The ground ozzle includes the substrate with basal plane, when vacuum cleaner robot operation, the basal plane In face of surface to be cleaned, air flow channel is provided in the substrate, the air flow channel is parallel to the basal plane and extends, to The ground ozzle is entered by the air flow channel by clean air, and
The ground ozzle includes revolving member, and the revolving member is for making the air flow channel around perpendicular to described The axis of basal plane rotates.
The movement that the use of one or more omni-directional wheels allows ground ozzle very flexible and universal, it is thus possible to make vacuum Cleaner robot reliably reaches and leaves or even be difficult to the narrow surface reached.Revolving member allows the dirt for will draw The air flow channel for entering ground ozzle with dust orients in an advantageous manner.This improves the suction effect of vacuum cleaner robot Rate, especially because by the floor area that ground ozzle acts on being optimal by air flow channel.
Substrate is also called nozzle base (nozzle sole).Air flow channel is also called suction seam, ozzle opening, takes out Suction inlet or suction channel.
Each omni-directional wheel can have multiple rollers or roll body rotatably supported, the axis of these rollers or roll body in its periphery It is not parallel to the extension of (omni-directional wheel) wheel shaft.Particularly, the axis of roller can be relative to wheel shaft at inclined angle or laterally Extend, or can orient in this way.The example of omni-directional wheel is the Mecanum wheel recorded in such as US 3,876,255.
When the operation of vacuum cleaner robot, the basal plane of substrate can against to by the surface (ground) of vacuum cleaning, Or it can be spaced apart with the surface.Ground ozzle can have mane band (bristle strip), in the feelings for being spaced apart configuration Under condition, the air stream of the seam across surface to be cleaned and substrate can be adjusted by means of mane band.Air flow channel can To have straight, the i.e. unbending shape for being parallel to basal plane.Air flow channel can have two parallel, particularly straight cross Xiang Bian.Particularly, air flow channel can have rectangular shape or basal plane.
Length direction is the direction for the minimum stretch amount that air flow channel has the basal plane for being parallel to ground ozzle；Laterally (that is, The direction of the maximum extension amount of air flow channel) perpendicular to length direction and it is parallel to basal plane.As a result, in the plane of basal plane In, length direction while be along and parallel to minimum stretch amount direction while, widthwise edge is the direction along maximum extension amount Side.
Ground ozzle can also have multiple air flow channels.If being provided with multiple air flow channels, multiple air flow channels It can have identical shape or different shapes.
The lifting unit for adjusting substrate square height level on the ground can be set in ground ozzle.It can be with this Kind mode adjusts the ground clearance of ground ozzle, in particular, if using mane band.Using lifting unit, base can be made Plate is gone up and down relative to wheel shaft.Lifting unit with complete mechanical or electromechanical can construct.
Revolving member orients in which can be configured for the moving direction for making air flow channel perpendicular to ground ozzle.It is tied Fruit is, (for example, rectangle) air flow channel is orientated the moving direction that its length direction is parallel to ground ozzle, and is orientated sky The lateral moving direction perpendicular to ground ozzle of flow channel.Length direction is that air flow channel has the base for being parallel to ground ozzle The direction of the minimum stretch amount in face；Laterally (that is, direction of the maximum extension amount of air flow channel) is perpendicular to length direction and parallel In basal plane.
In this way, the region that air flow channel slips over is maximized in the transverse direction of the moving direction relative to ground ozzle.
Revolving member may include turntable, and turntable, which is supported for it, to be turned around the axis of the basal plane perpendicular to substrate It is dynamic, and air flow channel (partly or entirely) is formed in turntable.This turntable that can be rotated around vertical axis allows Air flow channel is easy to orient.Turntable may be constructed such that a part of substrate.
Revolving member may include rotary driver, for rotating air flow channel, be particularly used for rotating turntable.Turn Dynamic component can be attached to the axis of motor fan unit.
The vacuum cleaner robot may include turning for controlling the electronics of revolving member, especially control turntable Dynamic control unit.Particularly, electron spin control unit can be attached to the driving device of ground ozzle.
Optionally, vacuum cleaner robot may include the idler wheel (castor) with angular transducer, rotation control Unit is attached to angular transducer.Idler wheel automatically directs its own towards moving direction.In this way, rotation control unit being capable of base In the moving direction of the signal detection vacuum cleaner robot of angular transducer (for example, rotary encoder).
Idler wheel has the rotation horizontal axis not intersected with the vertical axis of rotation line of idler wheel.
Optionally, vacuum cleaner robot can also have the mechanical rotation control unit for controlling revolving member. Here, turntable can be supported in a manner of it can be freely rotated.Machinery rotation control unit can for example including relative to turn The roller of the pivot center displacement of disk, roller are connected to turntable so that it can not mobile around horizontal axis.Here, roller passes through by with energy The rotation for the turntable that the mode being enough freely rotated supports and orient in the direction of movement.As a result, this also causes air flow channel lateral Orientation.
Size in the transverse direction of air flow channel can be at least the 90% of the width of ground line mouth, it is preferable that be ground line At least the 95% of the width of mouth is particularly at least the 90% of the width of substrate and/or turntable, it is preferable that for substrate and/or At least the 95% of the width of turntable.In this way throughout ground ozzle (or its basal plane) width extend air flow channel also with Advantageous mode allows to reach the region along wall.
Air flow channel can both ends (that is, length direction side) in its transverse direction extend to edge and/or the extension of turntable To the edge of substrate, the i.e. entire width of dorsalis medullae spinalis extension base.Thus, it is possible to which the region for slipping over air flow channel is as large as possible.It is empty Flow channel can limit secant (secant) along its lateral two sides relative to turntable.
Substrate and/or turntable can be configured to the predetermined position at least in turntable, and air flow channel extends with crossing turntable And (at least partly) extend with crossing substrate.For this purpose, could be formed with one or more using turntable as boundary in substrate Channel.If turntable is in these subchannels using the air flow channel in turntable as the position on boundary, i.e. in the adjacent channel Or the position with the channel alignment, then subchannel will limit the elongation of air flow channel.
In the case where above-mentioned vacuum cleaner robot, wheel be can be only fitted in the width of substrate.In other words, wheel will not The width of substrate is extended beyond, and takes turns and does not configure in the side on the length direction side of substrate.Therefore, by the way that configuration will be taken turns in base The side of plate, ground ozzle, particularly substrate can be moved near wall, rather than are spaced apart with the wall, thus with advantageous Mode allows to clean the surface extended along wall.
In the case where above-mentioned vacuum cleaner robot, collecting unit of dust can be supported in ground line together with the ozzle of ground The wheel of mouth.In such manner, it is possible to provide single type vacuum cleaner robot.Therefore, collecting unit of dust need not have individual driver Or the driver of its own, collecting unit of dust move together with the ozzle of ground and in combination.
Optionally, collecting unit of dust can independently of ground ozzle twelve Earthly Branches support in wheel and can be via suction hose and ground line Mouth is in fluid communication, and here, collecting unit of dust includes the driving device for driving at least one wheel of collecting unit of dust.
According to the optinal plan, collecting unit of dust and ground ozzle are configured to individually or isolated unit, these units are equal (individually) it is supported in the wheel of its own.Therefore, here, vacuum cleaner robot is bipartite vacuum cleaning Device.Collecting unit of dust and ground ozzle can move independently of each other.
The driving device of collecting unit of dust can independently of or separately from ground ozzle driving device construct.Particularly, Collecting unit of dust and ground ozzle can drive independently of each other.Collecting unit of dust and ground ozzle can be moved for example along different directions It is dynamic.In addition, one of collecting unit of dust and ground ozzle can not move, and another one is mobile.
If collecting unit of dust supports wheel, a multiple wheels in wheel, the wheel of collecting unit of dust independently of ground ozzle twelve Earthly Branches Or all wheels can be omni-directional wheel.Thus, collecting unit of dust can also be mobile in very flexible and universal mode.
The vacuum cleaner robot can also include motor fan unit, for sucking air by ground ozzle Stream.Motor fan unit can be dirty air motor or clean air motor (as described above).
Motor fan unit may include radial fan, particularly single-stage radial fan.Motor fan unit makes With bringing particularly good cleaning, i.e. vacuum cleaning result.In radial fan, air is by the driving relative to fan wheel Axis is parallel or axially aspirates and is deflected by the rotation of fan wheel, particularly about deflects 90o, is then radially blown Out.
Ground ozzle has for establishing the suction opening fluidly connected with motor fan unit.The suction opening and air Runner is in fluid communication.By air flow channel, the contact pressure of ground ozzle is adjusted in an advantageous manner, to realize good Pumping power.
Motor fan unit can be only fitted between ground ozzle and collecting unit of dust, so that the sky sucked by ground ozzle Air-flow passes through motor fan unit and flows into collecting unit of dust.
Thus, use dirty air motor or direct air motor in an advantageous manner in vacuum cleaner robot.? In the case where low motor power, vacuum cleaner robot according to the present invention also allows to obtain high volume flow.Dirty sky It is, for example, less than the maximum (top) speed of 30000rpm and the electric input power less than 900W that gas motor, which has,.
In the case where above-mentioned vacuum cleaner robot, motor fan unit can be configured at ground ozzle and/or match It sets above the ozzle of ground, particularly, can directly be configured at ground ozzle and/or directly configuration above the ozzle of ground.This Advantageous suction force can be generated.In addition, the cramped construction that can obtain the unit including ground ozzle and motor fan unit is set Meter.The air that motor fan unit for example can be configured to suck by ground ozzle is directly entered motor wind from ground line mouth Fan unit.
Motor fan unit can be in fluid communication via pipe portion and ground ozzle.In this case, motor fan unit Ground ozzle and/or directly configuration are no longer directly configured in the top of ground ozzle.Particularly, pipe portion can have 10mm extremely 300mm, the length preferably with 10mm to 100mm.
Collecting unit of dust can be in fluid communication via suction hose and ground ozzle, and motor fan unit is configured in ground ozzle Between suction hose, so that passing through motor fan unit by the air stream that ground ozzle sucks and flowing into suction hose. This structure design has the effect that during operation, and over-voltage will also be presented in suction hose.Therefore, suction hose wall (if necessary) it will only need slightly to reinforce.
When observing along airflow direction, sometimes referred to as the ground ozzle of " suction nozzle " is configured in suction hose Upstream, and suction hose configuration is in the upstream of collecting unit of dust.The sky that will be sucked by ground ozzle by means of motor fan unit Gas is first directed to suction hose, is then introduced into collecting unit of dust.Due to fluidly connecting, ensure that through ground ozzle and aspirating soft Pipe enters the continuous air flow of collecting unit of dust.
Make us enough in surprise, the results showed that dirty air can also be used in vacuum cleaner robot in an advantageous manner Motor, especially for conveying the dirty air sucked by ground ozzle across motor fan unit and entering dust list Member.
The case where different from following conventional upright type vacuum cleaner robot, vacuum cleaner robot described here are constructed At over-voltage is at least presented in collecting unit of dust: during operation, negative pressure particularly is presented in collecting unit of dust and dust storage chamber.This Sample, can reduce the wall thickness of collecting unit of dust, and be able to use small number of reinforcing element (ribs etc.), or very The use of this element extremely can be fully avoided, this will also cause the mitigation of weight.
The structure design of the vacuum cleaner robot of its ground ozzle is connected to including collecting unit of dust and via hose Allow the particularly advantageous sucking of dust with the combination of high flexibility.Particularly, even if under conditions of in a limited space, a side Face, ground ozzle can be reached to which by the surface of vacuum cleaning, on the other hand, collecting unit of dust is capable of providing bigger dust and receives Receive volume.
Optionally, collecting unit of dust can be in fluid communication via suction hose and ground ozzle, and the configuration of motor fan unit exists Between suction hose and collecting unit of dust, so that passing through suction hose by the air stream that ground ozzle sucks and flowing into motor wind Unit is fanned, and passes through motor fan unit and flows into collecting unit of dust.
In such manner, it is possible to realize light and compact configuration in ground ozzle side, this has the effect that ground ozzle will High flexible it is mobile, and can even reach the limited region in space.
Particularly, collecting unit of dust may include shell and configuration in the intracorporal dust-collector of the shell, motor fan list Member is configured on the shell, configures at the shell or configure in the shell.
Shell may include the housing wall being especially made of plastics.
It is configured on shell or configures by dust-collector configuration in the shell of collecting unit of dust and by motor fan unit Allow the cramped construction of collecting unit of dust to design in the housing, the cramped construction of vacuum cleaner robot entirety is allowed for set Meter.
Motor fan unit can configure (especially during the operation of vacuum cleaner robot) in dust-collector Above and over or configuration are in level height identical with dust-collector.As a result, in particular, motor fan unit is not Configuration is in the lower section of dust-collector.It is therefore not necessary to or only need to resist for gravity by motor fan unit with small degree Convey dirty air.
Motor fan unit can be configured on shell.Particularly, during the operation of vacuum cleaner robot, dust Collector can be only fitted to the lower section of motor fan unit or configure in level height identical with motor fan unit.
Collecting unit of dust can have three or four wheels, and particularly, there are four take turns for wheel or lucky tool there are three tools just.Collection The driving device of dirt unit can be configured for a wheel, multiple wheels or all wheels in the wheel of driving collecting unit of dust.It should Driving device can have for it is each can driving wheel independent or independent driving unit.This allow each wheel by independent and Individually drive.
Ground ozzle can have three or four wheels, and particularly, there are four take turns for wheel or lucky tool there are three tools just.Ground The driving device of facial canal mouth can be configured for a wheel, multiple wheels or all wheels in the wheel of driving ground line mouth.It should Driving device can have for it is each can driving wheel independent or independent driving unit.This allow each wheel by independent and Individually drive.
Motor fan unit can be configured to be less than 450W and use in electric input power according to DIN EN 60312-1 In the case where hole 8, motor fan unit, which also generates, is greater than 30L/s, particularly the volume flow greater than 35L/s.Optionally or separately Other places, motor fan unit can be configured to be less than 250W in electric input power according to DIN EN60312-1 and using hole 8 In the case of, motor fan unit, which also generates, is greater than 25L/s, particularly the volume flow greater than 30L/s.Alternatively, or in addition, Motor fan unit can be configured to according to DIN EN 60312-1 the case where electric input power is less than 100W and uses hole 8 Under, motor fan unit, which also generates, is greater than 10L/s, particularly the volume flow greater than 15L/s.
In this way, especially efficient vacuum cleaner robot is obtained, particularly, with traditional vacuum cleaner machine People compares, which shows the suction force significantly improved.
The air data of vacuum cleaner and the air data of motor fan unit are respectively according to DIN EN60312-1: 2014-01 is determined.In particular, with reference to the 5.8th chapter.Here, using the measuring device type B according to 7.3.7.3 chapter.If surveyed The motor fan unit without vacuum cleaner shell is measured, then will also use the measuring device B in this case.For The adapter that may be needed to be connected to measuring chamber, using the explanation under 7.3.7.1 chapter.
Instead of the term " air stream " according to DIN EN 60312-1, term " volume flow " and " suction air flow are also used (suction air stream)”。
Suction hose can have range 25mm to 50mm diameter and/or range 500mm to 2500mm length. Suction hose is configured to be flexible, particularly, when using vacuum cleaner robot as expectation, aspirates soft Pipe is deformable.Suction hose can be partly or entirely molded of plastic material.Particularly, suction hose may include plastics Wall and/or the reinforcer made of metal (for example, spiral wire).Suction hose may be constructed such that extending hose.Therefore, The length of suction hose is variable, and can extend to the several times for not extending (inactive) hose length.
Suction hose can have along its consistent length or variable diameter.Particularly, the shape of suction hose can To be taper that diameter is preferably directed towards that ground ozzle narrows.Particularly, diameter defined above refers to that the minimum of suction hose is straight Diameter.
Collecting unit of dust can be configured to and/or motor fan unit may be configured to the fan wheel of motor fan unit By ground ozzle with to be contacted according to the test prod of IEC/EN 60335 will be impossible.In this respect, with reference to version d IN The 8th chapter of EN 60335-1:2012-10.Particularly, used test prod should be test prod B.
This, which can be reduced, may cause the damage of motor fan unit when ground line mouth is touched with running motor Risk and the risk that may cause injury.
Collecting unit of dust may include the lower surface of the shell of the lower surface, particularly collecting unit of dust for adjusting collecting unit of dust The lifting unit of square height level on the ground.The distance of the lower surface of collecting unit of dust can be adjusted in this way, collected The ground clearance of dirt unit.This allows for example to increase following table square on the ground in the charge position of vacuum cleaner robot The height level in face enables ground ozzle to move below collecting unit of dust and its shell respectively.
Vacuum cleaner robot can be bag type vacuum cleaner.Bag type vacuum cleaner is in vacuum cleaner filter The vacuum cleaner of the dust of sucking is separated and collected in bag.The filter area of vacuum cleaner bag can be at least 800cm2.Particularly, vacuum cleaner robot can be the bag type vacuum cleaner for disposable bags.
The filter area of term vacuum cleaner bag refers to positioned at edge side seams (for example, solder joint or bonding Seam) between or interior filtering material the gross area.In this respect, be contemplated that there is likely to be lateral pleat or surface pleat Wrinkle.The area of bag filling opening or entrance opening (seam including surrounding the opening) is not a part of filter area.
Vacuum cleaner bag can be flat bag or the filter bag with block-like bottom.Flat bag is by the two of filtering material A side wall limits, and two side walls are connected to each other (for example, by means of welding or bonding) along respective periphery.In two side walls Marsupial filling opening or entrance opening can be set in one side wall.Side surface or side wall can all have rectangular basic shape. Each side wall can include one or more layers non-woven material and/or non-woven fabrics.
The vacuum cleaner robot of bag type vacuum cleaner form may include vacuum cleaner bag, vacuum cleaning Device filter bag is configured to the form of flat bag and/or disposable bags.
The bag wall of vacuum cleaner bag may include one or more layers non-woven material and/or one or more layers nonwoven Cloth.Particularly, the bag wall of vacuum cleaner bag may include by one or more layers non-woven material and/or one or more layers nothing The laminated body that woven fabric is constituted.Such as this laminated body is described in WO 2007/068444.
Term non-woven fabrics is understood with the meaning of standard DIN EN ISO 9092:2010.Within a context, particularly, film With paper structure, especially filter paper, it is not regarded as non-woven fabrics." non-woven material " is by certain technique (in addition to such as woven fabric, woollen yarn knitting Technique other than the interwoven yarns of fabric, knitted fabric, cage work or synthetic tuff fabric etc.) be configured to the measurable material of area, But the structure for the fiber and/or long filament or short fiber yarn not being connected to each other by certain technique.Pass through Joining Technology, nonwoven material Material becomes non-woven fabrics.Non-woven material or non-woven fabrics can be by dry-laying, wet-laying or extrusions.
Vacuum cleaner robot may include discharge filter, and especially filter area is at least 800cm2Exhaust Filter.In particular, discharge filter may be constructed such that the filter of fold or folding.Thus, it is possible to obtain for smaller The high surface area of basal plane product.The class recorded in such as European patent application No.14179375.2 can be set in discharge filter In the holder of type.This discharge filter allows vacuum cleaner bag, such as single layer vacuum cleaning of low separation efficiency The use of device filter bag.The vacuum cleaner bag of low separation efficiency can be for example following bag: in the case where the bag, bag The filtering material of wall is 20g/cm by grammes per square metre2To 60g/cm2Spunbonded materials constitute.Thus, in particular, vacuum cleaner filter Bag may be constructed such that single layer filter bag.It is alternatively possible to for example using bag, in the case where the bag, the filtering material of bag wall It is made of the laminated body for including spunbonded materials, melt-blown material and another spunbonded materials (SMS).
Optionally, vacuum cleaner robot can be Bagless vacuum cleaner, particularly, can be including filtering surface Product is at least 800cm2Type described previously discharge filter vacuum cleaner.Bagless vacuum cleaner is that do not having The vacuum cleaner for the dust being inhaled into is separated and collected in the case where any vacuum cleaner bag.In this case, Collecting unit of dust may include ballistic separator or centrifugal force type separator or whirlwind separator.
In principle, ground ozzle can be actively or passively ground line mouth.Active ground line mouth includes in suction opening Brush roll (is also called sometimes and beats brush and/or roll brush).Therefore, the vacuum cleaner robot may include brush roll. Brush roll may be adapted to by electrical motor driven.Passive ground line mouth does not have any brush roll.
Even if above-mentioned vacuum cleaner robot also permits in the case where in passive ground line mouth, i.e. without any brush roll Perhaps very good efficiency and suction force are obtained based on its overall construction design.The use of passive ground line mouth brings relatively simple Structure design, thus alleviate the weight of ground ozzle, thus will reduce the power requirement of the driving device of ground ozzle.
The vacuum cleaner robot is configured for independent and automatically covers surface to be cleaned.
The vacuum cleaner robot may include control and navigation elements, for making ground ozzle and/or dust Unit automatically moves.This allows to carry out autonomous vacuum cleaning by vacuum cleaner robot.In particular, it controls and navigates and is single Member can be configured for driving device, the driving device of ground ozzle and/or the motor fan unit of control collecting unit of dust. Control and navigation elements can be configured on collecting unit of dust or configure in collecting unit of dust and/or be configured on the ozzle of ground or match It sets in the ozzle of ground.Particularly, control and navigation elements can uniquely be configured on collecting unit of dust or configure in dust list In member.In this case it is also possible to which side executes the control and navigation of ground ozzle where collecting unit of dust.
The vacuum cleaner robot may include for will the control signal from control and navigation elements to ground The unit of facial canal mouth transmitting.Unit for transmitting control signal can be configured for establishing wired or wireless transmitting.
The vacuum cleaner robot may include that one or more positions determine component.In particular, position determines Component can be camera, path sensor and/or range sensor.Range sensor can be based on such as sound wave or based on electricity Magnetic wave.Position determines that component can be configured on collecting unit of dust or configure in collecting unit of dust and/or be configured on the ozzle of ground Or configuration is in the ozzle of ground.
Wireless power supply can be provided the vacuum cleaner robot.Particularly, for the mesh of power supply , the vacuum cleaner robot may include rechargeable battery.
Detailed description of the invention
With reference to the accompanying drawings to illustrating supplementary features, in the accompanying drawings
Fig. 1 shows the embodiment of bipartite vacuum cleaner robot；
Fig. 2 shows the block diagrams of bipartite vacuum cleaner robot；
Fig. 3 A and Fig. 3 B show the bottom view of the ground ozzle with air flow channel；
Fig. 4 A and Fig. 4 B show the bottom view of the ground ozzle with air flow channel；
Fig. 5 shows the embodiment of single type vacuum cleaner robot.
Specific embodiment
Fig. 1 shows the schematic diagram of the first embodiment of vacuum cleaner robot 1.Shown in vacuum cleaner machine People 1 includes collecting unit of dust 2 and the ground ozzle 3 that collecting unit of dust 2 is connected to via flexible suction hose 4.Thus, vacuum cleaner There is the design of bipartite structure, i.e. collecting unit of dust 2 and ground ozzle 3 to limit individual unit, dust list for robot 1 Member 2 and ground ozzle 3 are connected to each other only by means of suction hose 4.
Collecting unit of dust 2 is supported in four wheels 5, and the wheel is all configured as omni-directional wheel.Each omni-directional wheel 5, which all has, is set to it Multiple rollers 6 pivotally installed of circumference.The pivot center of the roller 6 all not with the wheel of corresponding omni-directional wheel Axis 7 is parallel.For example, the pivot center of roller can be relative to corresponding wheel axis angle at 45 °.The surface of roller or roll body is curved surface It is shape or arc.
In US 3,876,255, US 2013/0292918, DE 10 2,008 019 976 or DE 20 2,013 008870 Describe the example of this omni-directional wheel.
Collecting unit of dust 2 includes the driving device for driving the wheel 5 of collecting unit of dust.Driving device can have for example electronic The individual driving unit for each wheel 5 of motor, so that each wheel 5 drives in which can be independent of other wheels. Roller 6 is mounted for unpowered rotation.
By suitably driving single or all wheels 5, collecting unit of dust 2 can be moved along any direction.For example, if all Four wheels 5 are moved along identical rotation direction with identical speed, then collecting unit of dust is by straight ahead.When the wheel positioned at side is along anti- To when rotation, transverse shifting or displacement can be realized.
In principle, not every wheel must be configured to be drivable；A other wheel may be arranged as not having The driving of itself.In addition, for specifically moving, it is also possible to which a other wheel is not driven, even if the other wheel of this is former It is drivable on then.
According to optional embodiment, the wheel fewer of more than four can also be configured in the form of omni-directional wheel.US Tool is described in 2007/0272463, and there are three the examples of omni-directional wheel.
In the example shown, ground ozzle 3 is also provided with there are four omni-directional wheel 5.According to the present embodiment, the ruler of these wheels The size of the very little wheel less than collecting unit of dust 2.In similar form, ground ozzle 3 further includes the driving device for taking turns 5.Separately Outside in this case, the driving device for each wheel includes the independent driving unit of the form of such as electric motor, To drive each wheel independently and separately from other wheels.In this way, by suitably driving wheel, ground ozzle can also be along appointing Meaning direction is mobile.
Ground ozzle 3 includes the substrate with basal plane, when vacuum cleaner robot operation when the basal plane in face of ground, In face of to by the surface of vacuum cleaning.Setting is parallel to basal plane extension and is inhaled into for dirty air (dirty air) in substrate Air flow channel.In addition, being provided with described in greater detail below and being used to that air flow channel to be made to turn around the axis perpendicular to basal plane Dynamic revolving member.
In the example shown, collecting unit of dust 2 include shell 8, at shell 8 and on shell 8 be configured with motor fan Unit 9.Pipe portion 10 introduces the inside of shell 8 from motor fan unit 9, reaches configuration in the shell and limit dust and collects The vacuum cleaner bag of device.Vacuum cleaner bag can in a conventional manner, for example by means of holding plate removedly It is fixed on the inside of shell 8.
As a result, passing through ground ozzle 3, suction hose 4, motor fan unit 9 and pipe portion 10 in the configuration shown in Foundation is connect with the continuous fluid of dust-collector.Here, the configuration of motor fan unit 9 is in suction hose 4 and dust-collector Between, so that the dirty air sucked by ground ozzle will flow through motor fan unit 9 (particularly, via pipe portion 10) and flow into Configure the vacuum cleaner bag inside shell 8.
Therefore, motor fan unit 9 is dirty air motor.It includes the motor fan list of radial fan in particular Member.
Motor fan unit electric input power be less than 450W in the case where have greater than 30L/s volume flow (according to DIN EN 60312-1:2014-01 is determined using hole 8), have in the case where electric input power is less than 250W and is greater than 25L/s Volume flow, electric input power be less than 100W in the case where have greater than 10L/s volume flow.
Fan diameter can be in the range from 60mm to 160mm.It is, for example, possible to use be also used to ultrasonic cleaning vertical type AMETEC in vacuum cleaner (for example, SONICLEAN VT PLUS), the motor fan unit of Inc. company.
The motor fan unit of vacuum cleaner SONICLEAN VT PLUS has and DIN EN as explained above The corresponding feature of 60312-1:2014-01.Motor fan unit is measured in the case where no vacuum cleaner shell.For For being connected to measuring chamber and necessary adapter, using the explanation under 7.3.7.1.Under represent in the slow-speed of revolution and small input work High volume flow is obtained under rate.
During operation, air is sucked by motor fan unit 9.Air stream is entered true by the opening of ground line mouth 3 Empty cleaner robot 1 simultaneously flows into motor fan unit 9 by suction hose 4.It is attributed to when being observed along the direction of air stream The configuration of motor fan unit 9 the fact the upstream of (vacuum cleaner bag form) dust-collector, in shell 8 and Over-voltage can be presented in dust-collector.
In traditional vacuum cleaner, when observing along the direction of air stream, motor fan unit is in collecting unit of dust Configuration is in the downstream of dust-collector (for example, vacuum cleaner bag), this has the effect that particularly, collecting unit of dust Shell will receive negative pressure.In order to avoid shell is deformed by the negative pressure, typically, the shell must be for example by means of suitable When ribs reinforce.In the case where construction shown in Fig. 1, due to the over-voltage presented in shell 8, so reinforcement is not Reinforcement that is necessary or only needing small degree.
Vacuum cleaner robot 1 includes the control and navigation list for automatically moving collecting unit of dust 2 and ground ozzle 3 Member.For this purpose, configured with by the microcontroller of appropriately programmed in the shell 8 of collecting unit of dust 2.Control and navigation elements and position are true Determine component communication.These components include camera 11 and 12 and range sensor 13.Range sensor can be such as laser Sensor.
The navigation of vacuum cleaner robot by for example recorded in WO 02/074150 it is known in a manner of carry out.Configuration The driving unit of control and navigation elements control collecting unit of dust 2 in shell 8 and the driving unit of ground ozzle 3.
For the purpose finally referred to, setting is for will be from the control and navigation elements in the shell 8 of collecting unit of dust 2 Control signal is transferred to ground ozzle 3, particularly is transferred to the unit of the driving unit of ground ozzle.For this purpose, wireless transceiver It can be set in 3 place side of 2 place side of collecting unit of dust and ground ozzle.Optionally, it can also be arranged along suction hose and be used for The wired connection of transmitting control signal.
In order to support above-mentioned purpose, ground ozzle 3 can also include that one or more positions determine component.For example, ground Path sensor and/or range sensor has can be set in ozzle.It, will just in order to use corresponding information for controlling and navigating Control and navigation elements are transferred to from ground ozzle in the signal talked about.
Vacuum cleaner robot can be supplied electric power in a wired or wireless manner.Particularly, collecting unit of dust 2 can be with With the electric power cable for being connected to electrical socket.
Ground ozzle, particularly its driving device have to be supplied via in suction hose 4 or along suction hose 4 electric power The electric power supplied to cable.
Alternatively, or in addition, collecting unit of dust 2, which is also provided with, for example to be charged by wired or wireless (induction) And the rechargeable battery to charge.In order to charge the battery, vacuum cleaner 1 can for example automatically move to charging station.Such as The power supply of the driving device of fruit ground ozzle does not carry out uniquely via by the electrically connected of suction hose 4, then ground Ozzle 3 its own rechargeable battery also can be set.
Fig. 2 shows the schematic block diagrams of the vacuum cleaner robot 1 including collecting unit of dust 2 and ground ozzle 3.With In on the one hand four driving units 14 that the driving device of the wheel 5 of collecting unit of dust 2 includes electric motor form, on the other hand include For controlling the microcontroller 15 of electric motor.
In addition, being additionally provided with the control and navigation for automatically moving collecting unit of dust and ground ozzle in collecting unit of dust 2 Unit 16.Control and navigation elements 16 are connected to the microcontroller 15 of driving device and constitute a part that position determines component Another microcontroller 17.In the microcontroller 17, the data-signal from different sensors and/or camera is processed And it can be used for controlling and navigation elements 16.
In addition, control and navigation elements 16 are connected to motor fan unit 9, to control motor fan unit 9.
In the example shown, electric current supply and voltage supply can via what can be charged and wirelessly or non-wirelessly charging Storage battery 18 carries out.To put it more simply, all power supply connections are not shown in figure.
Ground ozzle 3 is also equipped with the driving device for its four wheels 5, wherein similar, institute the case where with collecting unit of dust 2 Stating driving device includes microcontroller 15 and four electric motors 14.The control signal of driving device for ground ozzle 3 Carry out control and navigation elements 16 of the self-configuring in collecting unit of dust 2.Signal is via can be only fitted in the wall of such as suction hose Communication line 19 transmit.However, alternatively, signal transmitting can also be realized by wireless transmission.
Ground ozzle may be constructed such that active ground line mouth (having driven brush roll) or be configured to passive ground Ozzle (does not have driven brush roll).
The rechargeable battery 18 that electric current and voltage are fed through collecting unit of dust 2 carries out.It is being aspirated for this purpose, being provided with configuration Line 20 in the wall of hose.
Ground ozzle 3 further includes the electron spin control unit for controlling the revolving member being arranged in the ozzle of ground 21.Fig. 3 A is the schematic, bottom view of ground ozzle 3.Air flow channel 22 is provided in the substrate 23 of ground ozzle 3.Shown in put down The widthwise edge that row has two parallel length direction sides parallel with two in the air flow channel 22 of the basal plane of substrate 23, i.e. air The shape of runner 22 is rectangle.
In the embodiment shown in Fig. 3 A, the wheel 5 of ground ozzle 3 is driven into ground ozzle such as arrow 24 signifiedly one It is straight to move forward.Air flow channel 22 is formed in the turntable 25 of a part for constituting substrate 23.Turntable 25 is supported for it can Axis around the basal plane perpendicular to substrate 23 rotates.
Electron spin control unit 21 is connected to the microcontroller 15 of the driving device of ground ozzle 3.According to ground line mouth 3 Electric motor 14 control, by rotating turntable 20 suitably, electron spin control unit 21 keeps air flow channel 22 opposite It transversely or vertically is oriented in the moving direction 24 of ground ozzle 3.
When the wheel 5 of ground line mouth 3, which is driven into, to be laterally moved shown in arrow 26 of the ground ozzle 3 such as in Fig. 3 B, Electron spin control unit 21 will control turntable 20, so that air flow channel 22 will be relative to ground due to the appropriate rotation of turntable 20 The moving direction 26 of facial canal mouth 3 transversely or vertically orients.
For any moving direction of ground ozzle 3, this orientation of air flow channel 22 is essentially possible.
Instead of using electron spin control unit 21, air flow channel can also be oriented mechanically.
Multiple air flow channels can also be arranged in the single air flow channel shown in turntable.These air flow channels can For example to configure in parallel with each other.
Fig. 4 A schematically shows another bottom view of ground ozzle 3, be presented with like reference characters with Fig. 3 A and The corresponding element of element in Fig. 3 B.In this example, wheel 5 is configured unlike Fig. 3 A and Fig. 3 B in the side of rectangular substrate, But wheel 5 is arranged in the width (that is, greatest width dimension) of substrate 23.
Thus, in the case where not needing makes wheel 5 away from wall relatively wide distance, the longitudinal edge of the substrate 23 can be moved to wall Near, and the length direction side of the substrate 23 can in the case where such as arrow 24 alongst moves signifiedly along The wall is mobile.
Air flow channel 22 has two parallel widthwise edges 27 and extends throughout entire turntable.Therefore, air flow channel 22 Lateral length it is corresponding with the diameter of turntable.End, i.e. length direction two sides in the transverse direction of air flow channel are open.
Substrate further includes two subchannels 28, and the subchannel 28 is beaten in a respective length direction side towards turntable It opens.As shown in Figure 4 B, if ozzle such as arrow 26 in ground laterally moves signifiedly, air flow channel will rotate 90 ° and thus It is oriented relative to new moving direction.Therefore, subchannel 28 will be aligned with air flow channel 22, so that air flow channel 22 is by subchannel 28 extend.In this way, being also maximum in the case where the ozzle transverse shifting of ground for the region that (extended) air flow channel 22 slips over Change.
In the example depicted in fig. 1, vacuum cleaner is bag type vacuum cleaner.It means that configuration in collecting unit of dust 2 There is vacuum cleaner bag, the dirt and dust of sucking separate in vacuum cleaner bag.Particularly, the vacuum cleaning Device filter bag can be flat bag, and the bag wall of flat bag includes one or more layers non-woven material and/or non-woven fabrics.Vacuum cleaner filter Bag is configured to disposable bags.
In particular, when using single layer vacuum cleaner bag, in the case where single layer cleaner bag, bag wall example It is such as made of the non-woven fabrics of lucky one layer of spunbonded materials form, will be advantageous using discharge filter.By means of exhaust gas filter Device can filter out the fine dust not separated in vacuum cleaner bag.This discharge filter can have at least 800cm2Area.In particular, discharge filter may be constructed such that the filter of fold or folding, so as to smaller basal plane product (being less than surface area) has high surface area.
Typically, suction hose 4 have range 25mm to 50mm diameter and range 500mm to 2500mm length Degree.
Optionally to the vacuum cleaner robot having been described above, vacuum cleaner robot can also be Bagless Vacuum cleaner, in the case where Bagless vacuum cleaner, collecting unit of dust 2 includes that centrifugal force type separator or cyclone type separate Device, wherein the dirt and dust granule that suck are by means of centrifugal force separate.Optionally, Bagless vacuum cleaner can also be by structure It makes as ballistic separator.
In particular, in the case where Bagless vacuum cleaner, collecting unit of dust is provided with discharge filter, by means of exhaust Filter can filter out the dust not separated in centrifugal force type separator.The discharge filter can have at least 800cm2Area.In particular, discharge filter may be constructed such that the filter of fold or folding, so as to smaller basal plane product With high surface area.Here, the type recorded in European patent application No.14179375.2 can be set in discharge filter In holder.
Fig. 5 schematically illustrates optional embodiment, in the case of this embodiment, with identical with Fig. 1 attached Icon note indicates similar element.In the example depicted in fig. 5, vacuum cleaner is single type vacuum cleaner robot 1, In the case where single type vacuum cleaner robot 1, the ground ozzle of type shown in Fig. 3 A and Fig. 3 B is configured in the bottom surface of shell 8 Side.Optionally, as shown in Figure 4 A and 4 B shown in FIG., take turns in the width that also can be only fitted to ground ozzle (and then configure at entire one In the width of formula vacuum cleaner robot).
In the inside of shell 8, it is configured with motor fan unit and collecting unit of dust.Thus, according to the example, ground ozzle It can be supported in wheel 5 in combination with collecting unit of dust.
In the case of this example, vacuum cleaner robot 1 can have the brush roll being actively driven.Can with but it is non-must It must ground setting motor fan unit (either clean air motor or dirty air motor).
For rest part, it is also used in the example according to Fig. 5 in a similar manner in conjunction with the feature that other accompanying drawings describe In.

Claims (28)

1. a kind of vacuum cleaner robot (1) comprising collecting unit of dust (2) and the ground ozzle (3) for being supported in wheel (5),
Wherein, the ground ozzle includes driving device (14,15), and the driving device (14,15) is for driving the ground At least one of wheel of ozzle wheel,
At least one of wheel of ground ozzle wheel is omni-directional wheel,
The ground ozzle includes the substrate with basal plane, and when vacuum cleaner robot operation, the basal plane is faced Surface to be cleaned is provided with air flow channel in the substrate, and the air flow channel is parallel to the basal plane and extends, to clear Clean air enters the ground ozzle by the air flow channel, and
The ground ozzle includes revolving member, and the revolving member is for making the air flow channel around perpendicular to the basal plane Axis rotation.
2. vacuum cleaner robot according to claim 1, which is characterized in that the revolving member is configured for Orient the air flow channel perpendicular to the moving direction of the ground ozzle.
3. vacuum cleaner robot according to claim 1 or 2, which is characterized in that the revolving member includes turntable, The turntable, which is supported for it, to be rotated around the axis of the basal plane perpendicular to the substrate, and is formed in the turntable The air flow channel.
4. vacuum cleaner robot according to claim 1 or 2, which is characterized in that the vacuum cleaner robot Including the mechanical rotation control unit for controlling the revolving member or the electron spin control for controlling the revolving member Unit processed.
5. vacuum cleaner robot according to claim 4, which is characterized in that the electron spin control unit connection To the driving device of the ground ozzle.
6. vacuum cleaner robot according to claim 3, which is characterized in that the ruler in the transverse direction of the air flow channel At least the 90% of the very little width for the ground ozzle.
7. vacuum cleaner robot according to claim 6, which is characterized in that the ruler in the transverse direction of the air flow channel At least the 95% of the very little width for the ground ozzle.
8. vacuum cleaner robot according to claim 6, which is characterized in that the ruler in the transverse direction of the air flow channel Very little is at least the 90% of the width of the substrate and/or the turntable.
9. vacuum cleaner robot according to claim 8, which is characterized in that the ruler in the transverse direction of the air flow channel Very little is at least the 95% of the width of the substrate and/or the turntable.
10. vacuum cleaner robot according to claim 1 or 2, which is characterized in that the collecting unit of dust is with described Facial canal mouth is supported in the wheel of the ground ozzle together, or
The collecting unit of dust is supportted independently of the ground ozzle twelve Earthly Branches in wheel, and via suction hose (4) and the ground line Mouth is in fluid communication, and the collecting unit of dust includes the driving device for driving at least one of wheel of the collecting unit of dust to take turns (14,15).
11. vacuum cleaner robot according to claim 10, which is characterized in that the collecting unit of dust is independently of described For the support of ground ozzle twelve Earthly Branches in wheel, at least one of wheel of collecting unit of dust wheel is omni-directional wheel.
12. vacuum cleaner robot according to claim 1 or 2, which is characterized in that the vacuum cleaner robot It further include motor fan unit (9), the motor fan unit is for passing through the ground ozzle suction air flow.
13. vacuum cleaner robot according to claim 12, which is characterized in that the motor fan unit includes diameter Flow fan.
14. vacuum cleaner robot according to claim 12, which is characterized in that the motor fan unit configuration exists Between the ground ozzle and the collecting unit of dust, so that passing through the motor by the air stream that the ground ozzle sucks Fan unit simultaneously flows into the collecting unit of dust.
15. vacuum cleaner robot according to claim 12, which is characterized in that the motor fan unit is configured at The ground ozzle and/or configuration are in the top of the ground ozzle.
16. vacuum cleaner robot according to claim 15, which is characterized in that the motor fan unit is configured at The ground ozzle and/or directly configuration are directly configured in the top of the ground ozzle.
17. vacuum cleaner robot according to claim 12, which is characterized in that the collecting unit of dust is soft via aspirating Pipe is in fluid communication with the ground ozzle, and the motor fan unit configures between the ground ozzle and the suction hose, So that passing through the motor fan unit by the air stream that the ground ozzle sucks and flowing into the suction hose.
18. vacuum cleaner robot according to claim 12, which is characterized in that the collecting unit of dust is soft via aspirating Pipe is in fluid communication with the ground ozzle, and the motor fan unit configures between the suction hose and the collecting unit of dust, So that passing through the suction hose by the air stream that the ground ozzle sucks and flowing into the motor fan unit, and wear It crosses the motor fan unit and flows into the collecting unit of dust.
19. vacuum cleaner robot according to claim 12, which is characterized in that the collecting unit of dust include shell and In the intracorporal dust-collector of the shell, the motor fan unit is configured on the shell, configures in the shell for configuration Place or configuration are in the shell.
20. vacuum cleaner robot according to claim 1 or 2, which is characterized in that the vacuum cleaner robot Including discharge filter.
21. vacuum cleaner robot according to claim 20, which is characterized in that the discharge filter has at least 800cm2Filter area.
22. vacuum cleaner robot according to claim 1 or 2, which is characterized in that the vacuum cleaner robot It is bag type vacuum cleaner.
23. vacuum cleaner robot according to claim 22, which is characterized in that the vacuum cleaner robot is Filter area is at least 800cm2Bag type vacuum cleaner.
24. vacuum cleaner robot according to claim 1 or 2, which is characterized in that the vacuum cleaner robot It is Bagless vacuum cleaner.
25. vacuum cleaner robot according to claim 24, which is characterized in that the vacuum cleaner robot is Bagless vacuum cleaner including ballistic separator or centrifugal force type separator.
26. vacuum cleaner robot according to claim 1 or 2, which is characterized in that the vacuum cleaner robot Component (11 is determined including control and navigation elements (16) and/or including one or more positions；12；13), described to control and lead Boat unit is for automatically moving the ground ozzle and/or the collecting unit of dust.
27. vacuum cleaner robot according to claim 1, which is characterized in that the institute in the wheel of the ground ozzle Wheel is omni-directional wheel.
28. vacuum cleaner robot according to claim 11, which is characterized in that the institute in the wheel of the collecting unit of dust Wheel is omni-directional wheel.
CN201580073614.5A 2015-01-20 2015-12-11 Vacuum cleaner robot Expired - Fee Related CN107105950B (en)

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EP15151741.4 2015-01-20
EP15151741.4A EP3047771B1 (en) 2015-01-20 2015-01-20 Robot vacuum cleaner
PCT/EP2015/079470 WO2016116223A1 (en) 2015-01-20 2015-12-11 Vacuum cleaner robot

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CN107105950B true CN107105950B (en) 2019-10-18

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AU (1) AU2015378048B2 (en)
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ES2622375T3 (en) 2017-07-06
EP3047771B1 (en) 2017-03-15
RU2669036C1 (en) 2018-10-05
PL3047771T3 (en) 2017-09-29
WO2016116223A1 (en) 2016-07-28
US20180008109A1 (en) 2018-01-11
US10736478B2 (en) 2020-08-11
AU2015378048A9 (en) 2017-07-13
CN107105950A (en) 2017-08-29
AU2015378048B2 (en) 2018-04-26
EP3047771A1 (en) 2016-07-27
AU2015378048A1 (en) 2017-06-15

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